Add ability to log solver execution to file.
Change-Id: I9996ba2fed5229fe5d621fbb1a027d4c360cd59d
diff --git a/internal/ceres/solver_impl.cc b/internal/ceres/solver_impl.cc
index 8e72537..c6df656 100644
--- a/internal/ceres/solver_impl.cc
+++ b/internal/ceres/solver_impl.cc
@@ -30,6 +30,7 @@
#include "ceres/solver_impl.h"
+#include <cstdio>
#include <iostream> // NOLINT
#include <numeric>
#include "ceres/evaluator.h"
@@ -108,6 +109,34 @@
const bool log_to_stdout_;
};
+// Basic callback to record the execution of the solver to a file for
+// offline analysis.
+class FileLoggingCallback : public IterationCallback {
+ public:
+ explicit FileLoggingCallback(const string& filename)
+ : fptr_(NULL) {
+ fptr_ = fopen(filename.c_str(), "w");
+ CHECK_NOTNULL(fptr_);
+ }
+
+ virtual ~FileLoggingCallback() {
+ if (fptr_ != NULL) {
+ fclose(fptr_);
+ }
+ }
+
+ virtual CallbackReturnType operator()(const IterationSummary& summary) {
+ fprintf(fptr_,
+ "%4d %e %e\n",
+ summary.iteration,
+ summary.cost,
+ summary.cumulative_time_in_seconds);
+ return SOLVER_CONTINUE;
+ }
+ private:
+ FILE* fptr_;
+};
+
} // namespace
void SolverImpl::Minimize(const Solver::Options& options,
@@ -117,6 +146,16 @@
double* parameters,
Solver::Summary* summary) {
Minimizer::Options minimizer_options(options);
+
+ // TODO(sameeragarwal): Add support for logging the configuration
+ // and more detailed stats.
+ scoped_ptr<IterationCallback> file_logging_callback;
+ if (!options.solver_log.empty()) {
+ file_logging_callback.reset(new FileLoggingCallback(options.solver_log));
+ minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
+ file_logging_callback.get());
+ }
+
LoggingCallback logging_callback(options.minimizer_progress_to_stdout);
if (options.logging_type != SILENT) {
minimizer_options.callbacks.insert(minimizer_options.callbacks.begin(),
